pycram.designators.specialized_designators.location.giskard_location

pycram.designators.specialized_designators.location.giskard_location#

Classes#

GiskardLocation

Module Contents#

class pycram.designators.specialized_designators.location.giskard_location.GiskardLocation(target: typing_extensions.Union[pycram.datastructures.pose.PoseStamped, pycram.world_concepts.world_object.Object], reachable_for: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object]] = None, visible_for: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object]] = None, reachable_arm: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms]] = None, ignore_collision_with: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object]] = None, grasp_descriptions: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.pose.GraspDescription], pycram.datastructures.pose.GraspDescription]] = None, object_in_hand: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.world_concepts.world_object.Object], pycram.world_concepts.world_object.Object]] = None)#

Bases: pycram.designators.location_designator.CostmapLocation

‘ Specialization version of the CostmapLocation which uses Giskard to solve for a full-body IK solution. This designator is especially useful for robots which lack a degree of freedom and therefore need to use the base to manipulate the environment effectively.

__iter__() → pycram.designators.location_designator.CostmapLocation.Location#

Uses Giskard to perform full body ik solving to get the pose of a robot at which it is able to reach a certain point.

Yield:

An instance of CostmapLocation.Location with a pose from which the robot can reach the target

Contents